201242732 六、發明說明： 【發明所屬之技術領域】 本發明係與順應性機構有關，特別是關於一種桓 的順應性機構，具有廣泛的應用性。 【先前技術】 服務型機器人在近年來的發展快速，其發展方向已不 只在於功能’更在於安全性，尤其是在與使用者接觸、^ 動及提供服務時’機器人可能對使用者造成之任何傷害 必須被避免。因此’具有反應速度快及無電子元件損壞問 題等優點的順應性機構已被應用於機器人中，用以吸收並 減緩外部力量之衝擊，進而提升機器人之安全性。 w 詳而言之，順應性機構可安裝於機器人之關節處，或 者安裝於用以與使用者或物品接觸的負載部位，在需承受 高負載時調高其剛性，而在承受低負載或者與使用者或二 弱物品接觸時調低其剛性，藉以使得機器人兼具其功能及 安全性。 然而’習知順應性機構都具有特殊的形狀、複雜的構 造，或魔大的體積’較不易隨著不同的應用而更改設計， 因此應用性較差。換言之，習知順應性機構仍有其不便之 處，而有待改進。 ' 【發明内容】 有鑑於上述缺失，本發明之主要目的在於提供一種順 201242732 構’具有模组化與中空結構，其應用性較佳者 有一第 至少一彈性件，以及 器’其中 包含 二達f上述目的，本發明所提供之順應性機構， 單元、可轉動地連接該固定單位之一第一„ 一早元、 用以驅轉該至少一彈性件 ^小1第—單域該第二單元剌形成有―通道^ 二夕-彈性件具有—板體與位於 轴，-第一轴桿及一第二轴桿，且該第_ =同 :軸桿係分別能相對轉動地設於該第—單元及該第j 使該彈性件能以該第—軸桿及該第二軸桿為中心= 而且，彈性件的轉動細方向與該第二單元的轉動輪心 °目父’當該第二單元轉動時能使轉性㈣性變形。 彈 σσ 早 藉此，該彈性件可受該驅動器驅轉，藉由以該第 第二轴桿為中心轉動而改變該板體與該第二單元之 向的相對角度’進而調變對於該第二單元相對該第 轉動之阻值，如此—來，該職、性機構之剛性即可隨該 性件之阻值改變。當賴構呈_性狀態時，若該第二 疋受外力而轉動’該彈性件可緩衝外力，以避免該機構^ 搭載的載具對所接觸的物品或使用者產生傷害 呈高剛性《時，該件即可抵抗外力，使得 搭載的載具可執行如搬運重物之高負載功能。 此外’本發明可將該彈性件的轉動軸心方向與該第二 單元的轉動軸心方向設定為相交，可以提供較佳的阻值調 整效果，亦可進-步使該彈性件的轉動軸心方向與該第二 單元的轉動軸心方向相互垂直，為最佳之設計。 4 201242732 由於本發明採用模組化之設計，該順應性機構只需要 在該第一單70及該第二單元之部分形狀進行更改，即可適 用於不同的使用魏及載具，意即其應雜十分良好丨另 外’該順紐機構具有巾空之通酬可㈣安裝線路，而 可以方便線路的配置，使得朗該機構之產品在外型設計 上更具彈性。 有關本發明所提供之順應性機構的詳細構造、特點、 組裝或使用方式，將於後_實施方式詳細說明中予以描 ^。然而，在本發明領域中具有通常知識者應能瞭解，該 等詳細說明以及實施本發明所列舉㈣定實施例，僅係用 於說明本發明，並非用以限制本發明之專利中請範圍。 【實施方式】 以下將藉由所列舉之實施例配合隨附之圖式，詳細說 明本發明之技術内容及特徵，其中： 第一圖為本發明一較佳實施例所提供之順應性機構的 立體組合圖； 第二圖為本發明該較佳實施例所提供之順應性機構的 立體分解圖； 第二圖為本發明該較佳實施例所提供之順應性機構的 剖視圖； 第四圖為本發明該較佳實施例所提供之順應性機構的 頂視圖’其中一轉盤及一軸承組件係被移除以便說明；以 及 5 201242732 第五圖係類同於第四圖，惟顯示該順應性機構之二彈 性件轉動90度後之態樣。 請先參閱第一圖至第三圖，本發明一較佳實施例所提 供之順應性機構10包含有一第一單元20、一第二單元 30、一驅動器40、一傳動組件50、一轴承組件，以及 二彈性件70。 該第一單元20主要包含有一基座22及一軸管24， 該基座22具有一朝向該第二單元30之内侧222及一朝向 該機構10外部之外側224。該二驅動器40分別為一馬 達，係固設於該基座22之内側222，且分別與該二傳動 組件50連接。各該傳動組件5〇包含有一與該驅動器4〇 連接之蝸桿52，以及一與該媧桿52嚙合之蝸輪54。該軸 管24係固設於該基座22之内側222，且該二傳動組件％ 係位於該軸管24内部。 該第二單元30包含有一轉盤32及二連接件34，該 轉盤32具有一朝向該第一單元2〇之内侧322及一朝向該 機構10外部之外側324，該二連接件34係固設於該轉盤 32之内側322並接近該轉盤32之外緣，且該軸管24係 位於該二連接件34之間。 5亥軸承組件60包含有一第一軸承62，在本實施例中 為一父又滾柱軸承，可視情況改用其他型式或者改由多個 軸承來取代，該軸承組件6〇還具有分別緊配合地固設於 該第一軸承62之内緣及外緣的一内固定環64及一外固定 ^ 66，該内固定環64及該外固定環的係分別與該軸管 201242732 Μ第皁7L 20均呈中空狀且依序連通 通過該第-單元2〇及該第二單元3〇之==^具有一 该结二單it 3G1 以該通道12為中 f此’ 轉動。 第一早元20 各該彈性件7G具有—板體72,以 ’ 體D之二相—互_對朗_第_糾^^該^ ;=’該二彈性件7。之第一轴桿74係分別藉由一 ^ 一轴承78而可㈣轉動地f設於該軸管Μ，並 於該，蜗輪54之中心，該二彈性件7g之第二轴才曰乃 係分別藉由-第二軸承78而可相對轉動地設於該第:單 70 30之連接件34，藉此，該二彈性件70可分別受該二 =動器40驅動而以該第一及第二軸桿μ、％為中:轉 盘’ =7一及第二軸桿74、76係相互同軸對應且係 Π道12相互垂直，意即，該二彈性件％受驅動器 驅轉之軸心方向係與該第二單元2G之轉動軸心方 互垂直。 在此說明的是，該二彈性件7〇之轉動轴心方向斑第 二早疋3G之轉動細方向相交且垂直的設計僅為-較佳 實施例，只要該彈性件7G能夠轉動即可發揮調整阻值之 功效。 藉由前述本發明所提供之順應性機構1G，該二彈性 件70可又驅動器4G驅動而於_最大阻值位置ρι (如第 四圖所不）及-最小阻值位置p2 (如第五圖所示）之間 201242732 t動，意即，藉由改變該二彈性件7G之板體72與該第二 單元3 _之轉動方向的相對角度，可調變該二彈性件％對 於該第二單元30轉動之阻值，使得該機構1()之剛性可隨 之改變。當該機構1G呈低剛性狀㈣，例如該二彈性件 70位於該最小阻值位置p2fl夺，若一外力轉動該第二單元 3〇 ’该一彈性件70可藉由彈性變形緩衝該外力，以避免 該機構10所搭载的巷且r圓士 使用者產生傷害載具（圖中未示）對所接觸的物品或 B "X機構1G呈明性狀態時，例如該二彈性件7〇位 於該最大阻值位置Pi眸，兮-?gs 雜件7G即可抵抗外力而 易產^此時’該機構10所搭載的載具即可執行 如搬運重物之高負載功能。 執仃 更重要的是，本發明所提供之順應性機構 在該轉盤32及該基座22之職進行小幅度更改，即= 用於不_㈣環境及載具，意即其_性十 f :，該機構10之通道12可収安裝鱗，使得應用= 構10之產品在外型設計上更具彈性。 W機 值得-提的是，各該傳動組件50主要係 器40及彈性件70之間產生減 ’、、驅動 蜗桿蜗輪組合抑可使雜件7G之轉財向與 之 所輸出之轉財向垂直，更具有騎速岐㈣方向=0 =特性，且各觸動器4G可輯用馬達而可對I 4性件70之阻錄親作最麵_整，然而= 驅動器4G及各該傳動組件5Q並不以伺服馬達及^ 8 201242732 組合為限。另外，該二位置相對應之彈性件7() θ 構ίο在受力時較可維持平衡，但彈性件70之主彳于該機 產生可調變之阻值，因此其數量並無限制。再者，/乍用係 10主要係以其整體呈管狀之中空結構提升其安裝=構 便利性及顧性’其細部形狀特徵並不以本實施^所提= 者為限。 的槿ί後彼必須再次說明，本發明於前揭實施例中所揭露 其馬舉例說明，並非用來限制本案之範圍， 所涵蓋。7°件的替代或變化，亦應為本案之申請專利範圍 201242732 【圖式簡單說明】 第一圖為本發明一較佳實施例所提供之順應性機構的 立體組合圖； 第二圖為本發明該較佳實施例所提供之順應性機構的 立體分解圖； 第三圖為本發明該較佳實施例所提供之順應性機構的 剖視圖； 第四圖為本發明該較佳實施例所提供之順應性機構的 頂視圖，其中一轉盤及一軸承組件係被移除以便說明；以 及 第五圖係類同於第四圖，惟顯示該順應性機構之二彈 性件轉動90度後之態樣。 【主要元件符號說明】 順應性機構10 通道12 第一單元20 基座22 内側222 外側224 軸管24 第二單元30 轉盤32 内側322 外側324 連接件34 驅動器40 傳動組件50 蜗桿52 蝸輪54 201242732 軸承組件60 内固定環64 彈性件70 第一軸桿74 第二軸承78 最小阻值位置P2 第一軸承62 外固定環66 板體72: 第二軸桿76 最大阻值位置P1201242732 VI. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a compliance mechanism, and more particularly to a compliance mechanism of a scorpion, which has wide applicability. [Prior Art] Service-oriented robots have developed rapidly in recent years, and their development direction is not only that the function is more about security, especially when it comes into contact with users, and when the service is provided, the robot may cause any damage to the user. Damage must be avoided. Therefore, a compliance mechanism with the advantages of fast response and no damage to electronic components has been applied to robots to absorb and mitigate the impact of external forces, thereby improving the safety of the robot. w In detail, the compliant mechanism can be installed at the joint of the robot or mounted on a load site for contact with the user or the item, and its rigidity can be increased when subjected to a high load, while being subjected to a low load or with The user or the two weak items are lowered in rigidity when they are in contact, so that the robot has both its function and safety. However, the conventional compliant mechanisms have a special shape, a complicated structure, or a large volume, which is less likely to change the design with different applications, and thus has poor applicability. In other words, the conventional compliance agency still has its inconvenience and needs to be improved. SUMMARY OF THE INVENTION In view of the above-mentioned deficiencies, the main object of the present invention is to provide a modulating and hollow structure in the structure of 201242732, which has a better applicability, and has at least one elastic member, and the device includes two The above object, the compliant mechanism provided by the present invention, the unit is rotatably connected to one of the fixed units, the first „one element, for driving the at least one elastic member, the small one, the first unit, the second unit The 剌 is formed with a "channel ^ 二 - elastic member having a plate body and a shaft, a first shaft and a second shaft, and the _ = same: the shaft shaft is respectively rotatably disposed at the first - the unit and the jth enable the elastic member to be centered on the first shaft and the second shaft = and the rotational direction of the elastic member and the rotating wheel of the second unit are the same as the first When the two units rotate, the rotation (four) is deformed. The spring σσ is early, the elastic member can be driven by the driver, and the plate body and the second unit are changed by rotating around the second shaft. The relative angle of the direction 'and then the modulation for the second The resistance of the element relative to the first rotation, so that the rigidity of the job and the sex mechanism can be changed with the resistance value of the character. When the structure is in the _ sex state, if the second jaw is rotated by the external force' The elastic member can buffer the external force to prevent the carrier carried by the mechanism from being highly rigid to the object or user being in contact with the device. When the member is resistant to external force, the carrier can be carried as a heavy object. The high load function. In addition, the present invention can set the rotation axis direction of the elastic member to the rotation axis direction of the second unit to provide a better resistance adjustment effect, and can further improve the The rotation axis direction of the elastic member is perpendicular to the rotation axis direction of the second unit, which is an optimum design. 4 201242732 Since the present invention adopts a modular design, the compliance mechanism only needs to be in the first single 70. And the shape of the second unit is changed, which can be applied to different use of Wei and the vehicle, which means that it should be very good. In addition, the company has a space for the towel (4) installation line, and the line can be convenient. The configuration of the device makes the product of the device more flexible in appearance design. The detailed structure, characteristics, assembly or use of the compliance mechanism provided by the present invention will be described in the following detailed description of the embodiment. However, it should be understood by those of ordinary skill in the art that the present invention is not limited by the scope of the invention. The following is a detailed description of the technical content and features of the present invention by the accompanying embodiments in conjunction with the accompanying drawings, wherein: FIG. 1 is a compliant mechanism provided by a preferred embodiment of the present invention The second figure is an exploded perspective view of the compliant mechanism provided by the preferred embodiment of the present invention; the second figure is a cross-sectional view of the compliant mechanism provided by the preferred embodiment of the present invention; Top view of the compliant mechanism provided by the preferred embodiment of the present invention, wherein one of the turntable and a bearing assembly is removed for illustration; and 5 201242732 FIG five lines similar to the fourth plot, but show two resilient member of the compliant means is rotated 90 degrees after the aspects. Referring to the first to third figures, a compliant mechanism 10 according to a preferred embodiment of the present invention includes a first unit 20, a second unit 30, a driver 40, a transmission assembly 50, and a bearing assembly. And two elastic members 70. The first unit 20 mainly includes a base 22 and a shaft tube 24 having an inner side 222 facing the second unit 30 and an outer side 224 facing the outer portion of the mechanism 10. The two drivers 40 are respectively a motor, and are fixed to the inner side 222 of the base 22, and are respectively connected to the two transmission components 50. Each of the transmission assemblies 5A includes a worm 52 coupled to the actuator 4A, and a worm gear 54 that meshes with the mast 52. The shaft tube 24 is fixed to the inner side 222 of the base 22, and the two transmission components are located inside the shaft tube 24. The second unit 30 includes a turntable 32 and two connecting members 34. The turntable 32 has an inner side 322 facing the first unit 2〇 and an outer side 324 facing the outside of the mechanism 10. The two connecting members 34 are fixed on the second connecting unit 34. The inner side 322 of the turntable 32 is adjacent to the outer edge of the turntable 32, and the shaft tube 24 is located between the two connecting members 34. The 5H bearing assembly 60 includes a first bearing 62, which in this embodiment is a parent and roller bearing, and may be replaced with other types or replaced by a plurality of bearings as the case may be. The bearing assembly 6〇 also has a tight fit respectively. An inner fixing ring 64 and an outer fixing member 66 fixed to the inner edge and the outer edge of the first bearing 62, the inner fixing ring 64 and the outer fixing ring are respectively associated with the shaft tube 201242732 Μ soap 7L 20 is hollow and sequentially communicates through the first unit 2 〇 and the second unit 3 = ==^ has a knot two it 3G1 with the channel 12 as the middle f this 'rotation. Each of the elastic members 7G of the first early element 20 has a plate body 72, and the two elastic members 7 are formed by the two phases of the body D, the mutual phase _ _ _ _ _ _ ^ ^ ^ ^ ^. The first shaft 74 is respectively rotatably disposed on the shaft tube 藉 by a bearing 78, and at the center of the worm wheel 54, the second shaft of the two elastic members 7g is The connecting member 34 of the first unit 70 30 is rotatably provided by the second bearing 78, respectively, whereby the two elastic members 70 are respectively driven by the two actuators 40 to be the first and The second shaft μ and % are medium: the turntable '=7' and the second shafts 74, 76 are coaxially corresponding to each other and the tunnel 12 is perpendicular to each other, that is, the two elastic parts are driven by the shaft of the drive The core direction is perpendicular to the axis of rotation of the second unit 2G. It is to be noted that the rotational axis direction of the two elastic members 7〇 intersects with the rotational fine direction of the second early 3G and the vertical design is only a preferred embodiment, as long as the elastic member 7G can rotate. Adjust the effect of resistance. With the compliant mechanism 1G provided by the foregoing invention, the two elastic members 70 can be driven by the driver 4G to the maximum resistance position ρ (as shown in the fourth figure) and the minimum resistance position p2 (such as the fifth). Figure 2) between the 201242732 t, that is, by changing the relative angle of the plate 72 of the two elastic members 7G and the rotation direction of the second unit 3, the two elastic members can be adjusted for the first The resistance of the rotation of the two units 30 causes the rigidity of the mechanism 1() to change accordingly. When the mechanism 1G is in a low rigidity (four), for example, the two elastic members 70 are located at the minimum resistance position p2, if an external force rotates the second unit 3'', the elastic member 70 can buffer the external force by elastic deformation. In order to avoid the lanes carried by the mechanism 10 and the harming vehicle (not shown) of the user of the circle 10 is in a state of being in contact with the article or the B"X mechanism 1G, for example, the two elastic members 7〇 Located at the maximum resistance position Pi眸, 兮-?gs miscellaneous pieces 7G can be easily resisted by external forces. At this time, the vehicle carried by the mechanism 10 can perform high load functions such as carrying heavy loads. More importantly, the compliance mechanism provided by the present invention makes minor changes in the position of the turntable 32 and the base 22, that is, for the environment and the vehicle, that is, its _ sex ten f : The channel 12 of the mechanism 10 can be installed with scales, so that the product of the application = structure 10 is more flexible in appearance design. W machine is worth mentioning that each of the transmission components 50 between the main system 40 and the elastic member 70 is reduced, and the worm and worm gear combination is driven, so that the miscellaneous pieces of the 7G can be turned into a wealth. To the vertical, it has the speed of riding (four) direction = 0 = characteristic, and each of the actuators 4G can use the motor to make the most of the blocking of the I 4 member 70, however, the driver 4G and each of the transmissions Component 5Q is not limited to the combination of servo motor and ^ 8 201242732. In addition, the elastic members 7() θ structure corresponding to the two positions are relatively balanced when subjected to force, but the main member of the elastic member 70 is variably resistant to the machine, and thus the number thereof is not limited. Furthermore, the /10 system is mainly characterized by its hollow tubular structure as a whole, which improves its installation, construction convenience and consideration. The detailed shape characteristics are not limited to those of the present embodiment. It is to be understood that the present invention is exemplified in the foregoing embodiments, and is not intended to limit the scope of the present invention. The replacement or variation of the 7° component is also the patent application scope of the present invention 201242732. BRIEF DESCRIPTION OF THE DRAWINGS The first figure is a three-dimensional combination diagram of a compliance mechanism provided by a preferred embodiment of the present invention; 3 is an exploded perspective view of a compliant mechanism provided by the preferred embodiment of the present invention; FIG. 3 is a cross-sectional view of a compliant mechanism provided by the preferred embodiment of the present invention; a top view of the compliance mechanism, wherein a turntable and a bearing assembly are removed for illustration; and the fifth figure is similar to the fourth figure, except that the two elastic members of the compliant mechanism are rotated by 90 degrees. kind. [Main component symbol description] Compliance mechanism 10 channel 12 First unit 20 Base 22 Inner side 222 Outside side 224 Shaft tube 24 Second unit 30 Turntable 32 Inside 322 Outside 324 Connector 34 Driver 40 Transmission assembly 50 Worm 52 Worm gear 54 201242732 Bearing assembly 60 Inner retaining ring 64 Elastic member 70 First shaft 74 Second bearing 78 Minimum resistance position P2 First bearing 62 External retaining ring 66 Plate 72: Second shaft 76 Maximum resistance position P1